You will need to drive up to Madrid, along Hwy 14 which is also known as the Turquoise Trail. Though not much of a road trip .. this is something I do in about half a day... definitely a worthy diversion :)
So find a conveyance and wander on up!
Once I get to Madrid, I like to park at one end of the town and walk the town ..... up one side of the street and back to my car down the other.
I get a better feel for this little piece of heaven as I wander in and out of the businesses and survey the roadside artwork. The country surrounding this town is typical of beautiful northern New Mexico... it's not worth taking the time to drive up here if you don't take the time to actually experience this town.